Jędrzej Orbik

I am a software developer at Roboception, where I work on computer vision and machine learning for robotics.

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Research

I'm interested in reinforcement learning, machine learning, and image processing for robotics applications. Much of my research is about inferring the physical world for robotic control.

Don't Start From Scratch: Leveraging Prior Data to Automate Robotic Reinforcement Learning
Homer Walke, Jonathan Yang, Albert Yu, Aviral Kumar, Jędrzej Orbik, Avi Singh, Sergey Levine,
RSS Workshop on Learning from Diverse, Offline Data, 2022
arXiv, website

We demonstrate that incorporating prior data into robotic reinforcement learning enables autonomous learning, substantially improves sample-efficiency of learning, and enables better generalization. Our method learns new robotic manipulation skills directly from image observations and with minimal human intervention to reset the environment.

Fully Autonomous Real-World Reinforcement Learning with Applications to Mobile Manipulation
Charles Sun*, Jędrzej Orbik*, Coline Devin, Brian Yang, Ahbishek Gupta, Glen Berseth, and Sergey Levine
Conference on Robot Learning (CoRL), 2021
arXiv / website / code

We propose a reinforcement learning system that can learn mobile manipulation tasks continuously in the real world without any environment instrumentation, without human intervention, and without access to privileged information, such as maps, objects positions, or a global view of the environment.

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